version: 66.06
glider: 146
mission: 6
dive: 358
start: 6 23 111 14 56 18
data:
$ID,146
$MISSION,6
$DIVE,358
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,621.34491
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-276695.09
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3010
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,143640,2249.779,-15802.397,14,2.5,33,10.1
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,8
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.3
$GPS2,145522,2249.936,-15802.550,16,3.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.100
$KALMAN_X,-229571.8,-81.4,177.0,219645.6,-1175.7
$KALMAN_Y,-2897.7,-90.8,441.4,13721.9,1011.8
$MHEAD_RNG_PITCHd_Wd,105.2,9474,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.40,0.000,2,0.000,0.000,479,1866,3231,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.1,-4.9,9,117,12.18,2.58,-5.05,0.000,4,0.143,0.058,2860,337,3489,0,0,0,0,0,0
$GC,142,-1.04,-116.8,16.9,-23.2,15,152,0.35,2.47,0.00,0.000,6,0.092,0.025,2938,1912,3489,0,0,0,0,0,0
$GC,438,-1.04,-116.8,52.1,-12.7,48,442,0.00,2.42,0.00,0.000,4,0.000,0.027,2938,3462,3490,0,0,0,0,0,0
$GC,471,-1.11,-116.8,56.2,-11.9,50,476,0.00,2.45,0.00,0.000,6,0.000,0.025,2939,1910,3491,0,0,0,0,0,0
$GC,736,-1.19,-116.8,86.5,-11.9,74,741,0.12,2.47,0.00,0.000,4,0.071,0.031,2895,3470,3491,0,0,0,0,0,0
$GC,788,-1.19,-116.8,93.3,-11.7,78,792,0.00,2.50,0.00,0.000,6,0.000,0.026,2895,1891,3491,0,0,0,0,0,0
$GC,1052,-1.23,-116.8,124.1,-11.3,102,1057,0.00,2.47,0.00,0.000,4,0.000,0.032,2895,3466,3491,0,0,0,0,0,0
$GC,1110,-1.33,-116.8,130.9,-10.8,106,1119,0.00,2.50,0.00,0.000,6,0.000,0.025,2895,1903,3492,0,0,0,0,0,0
$GC,1373,-1.38,-116.8,159.4,-10.7,131,1379,0.12,0.00,0.00,0.000,6,0.068,0.000,2843,1903,3492,0,0,0,0,0,0
$GC,1636,-1.38,-116.8,193.5,-12.3,156,1641,0.12,2.50,0.00,0.000,4,0.107,0.029,2871,3468,3492,0,0,0,0,0,0
$GC,1712,-1.44,-116.8,202.5,-11.4,161,1716,0.00,2.45,0.00,0.000,6,0.000,0.023,2871,1914,3492,0,0,0,0,0,0
$GC,1962,-1.44,-116.8,230.7,-11.3,167,1966,0.00,2.45,0.00,0.000,4,0.000,0.026,2871,3471,3492,0,0,0,0,0,0
$GC,1983,-1.49,-116.8,233.3,-11.7,167,1988,0.10,2.45,0.00,0.000,6,0.084,0.023,2830,1909,3492,0,0,0,0,0,0
$GC,2240,-1.49,-116.8,266.4,-12.9,174,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1909,3492,0,0,0,0,0,0
$GC,2482,-1.49,-116.8,295.5,-11.6,180,2486,0.00,2.47,0.00,0.000,4,0.000,0.032,2830,3465,3492,0,0,0,0,0,0
$GC,2550,-1.49,-116.8,302.6,-9.5,181,2554,0.00,2.42,0.00,0.000,6,0.000,0.031,2830,1939,3492,0,0,0,0,0,0
$GC,2807,-1.49,-116.8,326.9,-9.8,188,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,3491,0,0,0,0,0,0
$GC,3049,-1.49,-116.8,350.9,-10.0,194,3053,0.00,2.45,0.00,0.000,4,0.000,0.041,2830,3462,3490,0,0,0,0,0,0
$GC,3120,-1.49,-116.8,358.6,-10.8,195,3125,0.00,2.50,0.00,0.000,6,0.000,0.043,2830,1935,3490,0,0,0,0,0,0
$GC,3372,-1.49,-116.8,386.8,-11.4,201,3376,0.00,2.50,0.00,0.000,4,0.000,0.046,2830,3459,3489,0,0,0,0,0,0
$GC,3444,-1.54,-116.8,395.4,-11.9,202,3448,0.00,2.55,0.00,0.000,6,0.000,0.045,2830,1932,3489,0,0,0,0,0,0
$GC,3693,-1.54,-116.8,422.0,-10.6,208,3698,0.00,3.00,0.00,0.000,4,0.000,0.104,2829,298,3487,0,0,0,0,0,0
$GC,3710,-1.54,-116.8,423.9,-10.4,208,3715,0.00,2.60,0.00,0.000,6,0.000,0.035,2830,1919,3486,0,0,0,0,0,0
$GC,3971,-1.57,-116.8,451.4,-10.5,215,3975,0.00,2.62,0.00,0.000,4,0.000,0.064,2830,3473,3484,0,0,0,0,0,0
$GC,4015,-1.63,-116.8,456.2,-10.4,216,4019,0.00,2.55,0.00,0.000,6,0.000,0.051,2830,1949,3484,0,0,0,0,0,0
$GC,4294,-1.68,-116.8,484.4,-10.2,223,4299,0.12,2.58,0.00,0.000,4,0.074,0.058,2789,3472,3482,0,0,0,0,0,0
$GC,4333,-1.68,-116.8,489.3,-12.1,224,4337,0.00,2.60,0.00,0.000,6,0.000,0.055,2789,1946,3482,0,0,0,0,0,0
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4451,begin apogee
$GC,4459,-0.31,0.0,503.5,11.7,227,4559,1.38,0.00,96.72,0.917,6,0.086,0.000,3098,2027,3010,0,0,0,0,0,0
$STATE,4560,end apogee,CONTROL_FINISHED_OK
$STATE,4560,begin climb
$GC,4562,1.38,116.8,506.3,0.0,229,4671,1.58,2.65,99.78,0.897,4,0.044,0.056,3478,3552,2532,0,0,0,0,0,0
$GC,4707,1.29,178.9,505.5,6.4,233,4767,0.12,2.70,53.85,0.877,6,0.130,0.051,3455,1987,2280,0,0,0,0,0,0
$GC,5018,1.23,188.3,476.8,9.5,241,5033,0.00,2.70,8.40,0.747,4,0.000,0.046,3455,3549,2242,0,0,0,0,0,0
$GC,5051,1.18,200.4,473.6,9.3,241,5070,0.15,2.67,12.45,0.798,6,0.124,0.051,3426,1993,2192,0,0,0,0,0,0
$GC,5352,1.20,218.1,446.8,9.0,249,5375,0.00,2.65,16.40,0.828,4,0.000,0.045,3426,3562,2120,0,0,0,0,0,0
$GC,5394,1.20,223.7,442.6,9.7,250,5407,0.00,2.67,6.72,0.700,6,0.000,0.050,3426,1998,2096,0,0,0,0,0,0
$GC,5682,1.20,223.7,412.5,10.8,257,5686,0.00,2.92,0.00,0.000,4,0.000,0.097,3426,402,2092,0,0,0,0,0,0
$GC,5755,1.20,223.7,403.5,12.1,258,5759,0.00,2.55,0.00,0.000,6,0.000,0.029,3426,1988,2091,0,0,0,0,0,0
$GC,6004,1.20,223.7,377.1,10.4,264,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1988,2090,0,0,0,0,0,0
$GC,6250,1.21,228.9,353.4,9.7,270,6260,0.00,2.62,4.45,0.581,4,0.000,0.043,3426,3578,2077,0,0,0,0,0,0
$GC,6344,1.21,230.6,343.8,9.9,272,6348,0.00,2.60,0.00,0.000,6,0.000,0.036,3426,2005,2076,0,0,0,0,0,0
$GC,6623,1.27,247.6,318.9,9.1,279,6648,0.00,2.88,18.27,0.782,4,0.000,0.072,3426,413,1999,0,0,0,0,0,0
$GC,6666,1.28,253.8,314.5,9.7,280,6681,0.10,2.58,7.12,0.670,6,0.089,0.023,3454,2030,1974,0,0,0,0,0,0
$GC,6955,1.28,253.8,281.5,11.2,287,6959,0.00,2.78,0.00,0.000,4,0.000,0.065,3454,408,1971,0,0,0,0,0,0
$GC,7016,1.28,253.8,273.8,11.9,288,7021,0.00,2.53,0.00,0.000,6,0.000,0.025,3454,2010,1970,0,0,0,0,0,0
$GC,7283,1.28,253.8,245.4,10.7,295,7288,0.00,2.75,0.00,0.000,4,0.000,0.062,3454,402,1969,0,0,0,0,0,0
$GC,7340,1.28,253.8,239.3,10.6,296,7344,0.00,2.50,0.00,0.000,6,0.000,0.025,3454,2004,1968,0,0,0,0,0,0
$GC,7606,1.31,278.2,216.0,8.6,303,7635,0.00,2.83,22.12,0.708,4,0.000,0.056,3454,410,1874,0,0,0,0,0,0
$GC,7726,1.31,278.2,203.9,10.4,305,7731,0.00,2.50,0.00,0.000,6,0.000,0.024,3454,1998,1872,0,0,0,0,0,0
$GC,7989,1.36,278.2,179.2,10.1,326,7993,0.00,2.53,0.00,0.000,4,0.000,0.034,3454,3556,1871,0,0,0,0,0,0
$GC,8029,1.42,278.2,174.8,10.6,329,8034,0.10,2.55,0.00,0.000,6,0.087,0.031,3483,1989,1869,0,0,0,0,0,0
$GC,8293,1.42,278.2,146.9,10.2,353,8298,0.00,2.67,0.00,0.000,4,0.000,0.064,3483,410,1869,0,0,0,0,0,0
$GC,8398,1.42,278.2,135.5,11.5,361,8402,0.00,2.45,0.00,0.000,6,0.000,0.024,3483,1994,1868,0,0,0,0,0,0
$GC,8665,1.42,281.3,109.6,9.9,385,8670,0.00,2.67,0.00,0.000,4,0.000,0.058,3482,411,1868,0,0,0,0,0,0
$GC,8683,1.43,286.2,107.3,9.8,386,8698,0.00,2.42,7.57,0.541,6,0.000,0.018,3483,1979,1842,0,0,0,0,0,0
$GC,8956,1.49,312.2,83.1,8.5,411,8985,0.00,0.00,23.77,0.586,6,0.000,0.000,3483,1980,1736,0,0,0,0,0,0
$GC,9246,1.60,335.2,56.9,8.7,438,9275,0.15,2.58,20.60,0.555,4,0.071,0.028,3525,3545,1643,0,0,0,0,0,0
$GC,9306,1.60,335.2,50.9,11.5,442,9310,0.00,2.58,0.00,0.000,6,0.000,0.030,3525,1962,1642,0,0,0,0,0,0
$GC,9598,1.63,365.7,19.5,8.3,474,9632,0.00,2.65,26.83,0.527,4,0.000,0.056,3525,418,1518,0,0,0,0,0,0
$GC,9677,1.63,365.7,11.0,12.8,484,9687,0.00,2.42,0.00,0.000,6,0.000,0.017,3525,1963,1516,0,0,0,0,0,0
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,0.6,0.980038
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9793,202.55,0.514,0,0,476,621.34
$SM_GC,1.19,0.00,0.00,202.55,0.000,0.000,0.514,477,1836,476,-12.38,-1.55,621.34
$IRIDIUM_FIX,2241.69,-15759.32,160900,141437
$TT8_MAMPS,0.026078
$HUMID,59.21
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.60
$XPDR_PINGS,54
$24V_AH,23.5,45.058
$10V_AH,10.3,39.590
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.175,134.400,425.075,202.550,0.000,148.056,204.302,198.611,13.500,0.000,37.450,1030.675,6395.738,681.492,2001.973,1013.192,33.367,1431.403,0.000,1979.060,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,103.545,916.565,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.569,286.838,389.765,760.452,1150.135,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38513,497
$CAP_FILE_SIZE,112173,0
$CFSIZE,260165632,163418112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,174407,2249.763,-15801.953,31,0.9,31,10.1